I can only give my experience, which is yes, no, or maybe.
I’ve walked into an Apple Store and got Genius Bar help immediately without an appointment because it wasn’t busy at all. I mean - it was as busy as a Microsoft Store. I went in to a super busy Apple Store, talked to check-in, waited patiently and got service just waiting there. I still wasn‘t sure they were going to do anything until my wife’s iPhone was handed over. And once I was told flatly no, but that I could come in first thing in the morning to be placed on the daily waiting list.
If you’re in a hurry, finding an appointment at another store or getting on the daily waitnt list might be your best options.